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In this paper, a framework of human-robot shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics...
In this paper, we propose a role adaptation method for human–robot shared control. Game theory is employed for fundamental analysis of this two-agent system. An adaptation law is developed such that the robot is able to adjust its own role according to the human's intention to lead or follow, which is inferred through the measured interaction force. In the absence of human interaction forces, the...
In this paper, a role adaptation method is developed for human-robot collaboration based on game theory. This role adaptation is engaged whenever the interaction force changes, causing the proportion of control sharing between human and robot to vary. In one boundary condition, the robot takes full control of the system when there is no human intervention. In the other boundary condition, it becomes...
Motivated by applications in robot-assisted physical rehabilitation, this paper presents an adaptive control design for robot manipulators operating in an ellipsoidal constrained region. The ellipsoidal constraint problem is more challenging than the box constraint problem tackled in previous works, since the nonlinear constraint boundary cannot be handled in a decoupled manner along the dimensions...
To achieve natural and mutually engaging rhythmic human-robot handshaking, the movements of the human and robot should be synchronized. However, the intended movements of the human, namely the frequency components and amplitudes of the periodic motion, are largely unknown. In this paper, a robot controller has been developed to reach the goal of natural handshake. The control system for the robot...
We present adaptive admittance control of a robotic manipulator, with uncertain dynamic parameters, operating in a constrained task space. To provide compliance to external forces, we generate a differentiable reference trajectory that remains in the constrained task space. Then, adaptive backstepping control, based on a time-varying asymmetric Barrier Lyapunov Function (BLF), is designed to achieve...
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